LAS VEGAS—O.J. Simpson’s lawyer told jurors Thursday that the former football star’s effort to get items back from two sports memorabilia dealers was a mistake but not a crime, saying that “being stupid, and being frustrated is not being a crook.”

In closing arguments, the prosecution said Simpson recruited a pack of burly men to pull off an armed robbery and kidnapping in a Las Vegas hotel room, but Simpson attorney Yale Galanter said his client was a victim of witnesses with ulterior motives and police who were out to get him.

The jury was told at day’s end to return ...

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